This work is one branch of the project named The Theory and New Type Transmission Pair Based on Bertrand Surface (No. 50275017), which is supported by National Science Foundation of China.

• 本课题属国家自然科学基金的资助项目“基于贝特朗曲面的传动原理与新型传动的研究(编号 50275017)”的子课题。